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Note: This was preached outside hence some of the unique background noise.
As we come into Matthew 3, we are jumping somewhere between 18-30 years later. Luke 2 records the events at Jesus' birth, His circumcision, and when He was twelve-years-old. Matthew 2 records the activities within the first two years of his life, and from Luke 3, we learn that Jesus was around 30 years of age when he began his public ministry. (See Luke 3:23)
So Matthew picks up his record somewhere in this time frame with the ministry of John the Baptist, The Herald of the King.